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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9
-4 Co
nt
ro
l Lo
op
Ob
jects
9
9-
4-4
3213 hex: 1st
P
osi
tion
Contr
ol G
ain
• Selects the method to switch the gain in the position control.
Description of Set Values
• Sets the delay time when the gain returns from Gain 2 to Gain 1 if the
Mode Selection
is set to
3
.
• Sets the speed threshold for when Gain 2 switches to Gain 1 if the
Mode Selection
is set to
3
.
• Sets the time to change the gain from a high value to a low value.
Sets the 1st position control gain.
• Sets the 1st position proportional gain.
• Sets the 1st position proportional gain.
• This object is intended for PDO assignment. Use this object to change the
Proportional Gain
(subindex 01 hex) from a PDO.
Subindex 01 hex: Mode Selection
Set
value
Description
0
Always Gain 1
1
Always Gain 2
2
Gain switching command input via EtherCAT communications
3
Actual motor velocity with position command
Subindex 02 hex: Delay Time
Subindex 03 hex: Speed
Subindex 04 hex: Time
9-4-4
3213 hex: 1st Position Control Gain
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
opera-
tion
3213
---
1st Position Con-
trol Gain
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
E1 hex
---
1 byte
(U8)
RO
---
---
---
01
Proportional Gain
0 to 5,000
0.1 Hz
44/29
*1
*1. The first value is for the Servo Drive with its capacity 3kw or less. The second value is for the Servo Drive with its capacity
5kw or more.
A
4 bytes
(INT32)
RW
---
---
csp, pp,
hm
E1
Proportional Gain
Command
0 to 5,000
0.1 Hz
44/29
*1
A
4 bytes
(INT32)
W
RxPDO
---
csp, pp,
hm
Subindex 01 hex: Proportional Gain
Subindex E1 hex: Proportional Gain Command
Summary of Contents for R88D-1SN ECT Series
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